WebSVN – svnkaklik – Diff – /roboti/istrobot/callis/sumo_kaklik2.bak


#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
#define RED_WHITE  60     // maximum bile na cervenem senzoru
#define MLEFT     OUT_A
#define MRIGHT    OUT_C
#define BLUE      SENSOR_3
#define RED       SENSOR_2
#define BBUMPER   SENSOR_1
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
 
int semafor;
 
task main()
{
  PlaySound (SOUND_DOUBLE_BEEP);
  Wait(500); // 5s podle pravidel
  SetSensor(BLUE,SENSOR_LIGHT);   // senzor na caru modry
  SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny
  SetSensor(BBUMPER, SENSOR_TOUCH);  // naraznik modry
  SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
  SetPower (MLEFT,OUT_FULL);
  SetPower (MRIGHT,OUT_FULL);
  SetDirection(MLEFT, OUT_FWD);
  SetDirection(MRIGHT, OUT_FWD);
  SetTxPower(TX_POWER_HI);    // aby daleko videl
 
  OnFwd (MLEFT);         // cuknuti na shozeni radlic
  OnFwd (MRIGHT);
  Wait(20);
  OnRev (MLEFT);
  OnRev (MRIGHT);
  Wait(70);
  Off(MLEFT);
  Off(MRIGHT);
 
  start blue_bumper;
  start cervena;
  start cara_modra;
  start stochastika;
}
 
task stochastika()        // nahodne otaceni
{
  while(true) Zatoc();
}
 
void GoBlue()
{
  OnFwd (MLEFT);
  OnFwd (MRIGHT);
  Wait(300);              // popojed kus
  Off(MLEFT);
  Off(MRIGHT);
}
 
void GoRed()
{
  OnRev (MLEFT);
  OnRev (MRIGHT);
  Wait(300);              // popojed kus
  Off(MLEFT);
  Off(MRIGHT);
}
 
void Obrat()
{
  OnRev (MLEFT);
  OnFwd (MRIGHT);
  Wait(125);              // popojed kus
  Off(MLEFT);
  Off(MRIGHT);
}
 
void Zatoc()
{
  switch (Random(1))
  {
    case 0:
     OnRev (MLEFT);
     OnFwd (MRIGHT);
     Wait(50);
     break;
    case 1:
     OnFwd (MLEFT);
     OnRev (MRIGHT);
     Wait(50);
     break;
    case 2:
     OnRev (MLEFT);
     OnRev (MRIGHT);
     Wait(70);
     break;
    case 3:
     OnFwd (MLEFT);
     OnFwd (MRIGHT);
     Wait(70);
     break;
  }
}
 
task blue_bumper() // naraznik na modre strane
{
  while(true)
  {
    if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
    {
      stop stochastika;
      PlaySound (SOUND_FAST_UP);
      OnFwd (MLEFT);
      OnFwd (MRIGHT);
      Wait(50);
    }
  }
}
 
task cervena() // dalkovy sensor
{
  int lastlevel;
 
  lastlevel = 0;
  while(true)
  {
    SendMessage(0);
    if(lastlevel > SENSOR_2)
    {
      PlaySound(SOUND_FAST_UP);
      stop stochastika;
      OnRev (MLEFT);
      OnRev (MRIGHT);
      Wait(10);              // popojed kus
      Off(MLEFT);
      Off(MRIGHT);
      Obrat();
      GoBlue();
      start stochastika;
    }
    lastlevel = SENSOR_2;
    lastlevel -= THRESHOLD;
  }
}
 
task cara_modra()    // hlidani cary
{
  while(true)
  {
     if (BLUE < THRESHOLD)    // cekej na caru
     {
        PlaySound (SOUND_DOUBLE_BEEP);
        stop blue_bumper;
        stop stochastika;
        stop cervena;
        GoRed();
        start cervena;
        start blue_bumper;
        start stochastika;
     }
  }
}
 

Rev 1	Rev 5
1	`#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou`	1	`#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou`
2	`#define RED_WHITE 60 // maximum bile na cervenem senzoru`	2	`#define RED_WHITE 60 // maximum bile na cervenem senzoru`
3	`#define MLEFT OUT_A`	3	`#define MLEFT OUT_A`
4	`#define MRIGHT OUT_C`	4	`#define MRIGHT OUT_C`
5	`#define BLUE SENSOR_3`	5	`#define BLUE SENSOR_3`
6	`#define RED SENSOR_2`	6	`#define RED SENSOR_2`
7	`#define BBUMPER SENSOR_1`	7	`#define BBUMPER SENSOR_1`
8	`#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;`	8	`#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;`
9		9
10	`int semafor;`	10	`int semafor;`
11		11
12	`task main()`	12	`task main()`
13	`{`	13	`{`
14	`PlaySound (SOUND_DOUBLE_BEEP);`	14	`PlaySound (SOUND_DOUBLE_BEEP);`
15	`Wait(500); // 5s podle pravidel`	15	`Wait(500); // 5s podle pravidel`
16	`SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry`	16	`SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry`
17	`SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny`	17	`SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny`
18	`SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry`	18	`SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry`
19	`SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...`	19	`SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...`
20	`SetPower (MLEFT,OUT_FULL);`	20	`SetPower (MLEFT,OUT_FULL);`
21	`SetPower (MRIGHT,OUT_FULL);`	21	`SetPower (MRIGHT,OUT_FULL);`
22	`SetDirection(MLEFT, OUT_FWD);`	22	`SetDirection(MLEFT, OUT_FWD);`
23	`SetDirection(MRIGHT, OUT_FWD);`	23	`SetDirection(MRIGHT, OUT_FWD);`
24	`SetTxPower(TX_POWER_HI); // aby daleko videl`	24	`SetTxPower(TX_POWER_HI); // aby daleko videl`
25		25
26	`OnFwd (MLEFT); // cuknuti na shozeni radlic`	26	`OnFwd (MLEFT); // cuknuti na shozeni radlic`
27	`OnFwd (MRIGHT);`	27	`OnFwd (MRIGHT);`
28	`Wait(20);`	28	`Wait(20);`
29	`OnRev (MLEFT);`	29	`OnRev (MLEFT);`
30	`OnRev (MRIGHT);`	30	`OnRev (MRIGHT);`
31	`Wait(70);`	31	`Wait(70);`
32	`Off(MLEFT);`	32	`Off(MLEFT);`
33	`Off(MRIGHT);`	33	`Off(MRIGHT);`
34		34
35	`start blue_bumper;`	35	`start blue_bumper;`
36	`start cervena;`	36	`start cervena;`
37	`start cara_modra;`	37	`start cara_modra;`
38	`start stochastika;`	38	`start stochastika;`
39	`}`	39	`}`
40		40
41	`task stochastika() // nahodne otaceni`	41	`task stochastika() // nahodne otaceni`
42	`{`	42	`{`
43	`while(true) Zatoc();`	43	`while(true) Zatoc();`
44	`}`	44	`}`
45		45
46	`void GoBlue()`	46	`void GoBlue()`
47	`{`	47	`{`
48	`OnFwd (MLEFT);`	48	`OnFwd (MLEFT);`
49	`OnFwd (MRIGHT);`	49	`OnFwd (MRIGHT);`
50	`Wait(300); // popojed kus`	50	`Wait(300); // popojed kus`
51	`Off(MLEFT);`	51	`Off(MLEFT);`
52	`Off(MRIGHT);`	52	`Off(MRIGHT);`
53	`}`	53	`}`
54		54
55	`void GoRed()`	55	`void GoRed()`
56	`{`	56	`{`
57	`OnRev (MLEFT);`	57	`OnRev (MLEFT);`
58	`OnRev (MRIGHT);`	58	`OnRev (MRIGHT);`
59	`Wait(300); // popojed kus`	59	`Wait(300); // popojed kus`
60	`Off(MLEFT);`	60	`Off(MLEFT);`
61	`Off(MRIGHT);`	61	`Off(MRIGHT);`
62	`}`	62	`}`
63		63
64	`void Obrat()`	64	`void Obrat()`
65	`{`	65	`{`
66	`OnRev (MLEFT);`	66	`OnRev (MLEFT);`
67	`OnFwd (MRIGHT);`	67	`OnFwd (MRIGHT);`
68	`Wait(125); // popojed kus`	68	`Wait(125); // popojed kus`
69	`Off(MLEFT);`	69	`Off(MLEFT);`
70	`Off(MRIGHT);`	70	`Off(MRIGHT);`
71	`}`	71	`}`
72		72
73	`void Zatoc()`	73	`void Zatoc()`
74	`{`	74	`{`
75	`switch (Random(1))`	75	`switch (Random(1))`
76	`{`	76	`{`
77	`case 0:`	77	`case 0:`
78	`OnRev (MLEFT);`	78	`OnRev (MLEFT);`
79	`OnFwd (MRIGHT);`	79	`OnFwd (MRIGHT);`
80	`Wait(50);`	80	`Wait(50);`
81	`break;`	81	`break;`
82	`case 1:`	82	`case 1:`
83	`OnFwd (MLEFT);`	83	`OnFwd (MLEFT);`
84	`OnRev (MRIGHT);`	84	`OnRev (MRIGHT);`
85	`Wait(50);`	85	`Wait(50);`
86	`break;`	86	`break;`
87	`case 2:`	87	`case 2:`
88	`OnRev (MLEFT);`	88	`OnRev (MLEFT);`
89	`OnRev (MRIGHT);`	89	`OnRev (MRIGHT);`
90	`Wait(70);`	90	`Wait(70);`
91	`break;`	91	`break;`
92	`case 3:`	92	`case 3:`
93	`OnFwd (MLEFT);`	93	`OnFwd (MLEFT);`
94	`OnFwd (MRIGHT);`	94	`OnFwd (MRIGHT);`
95	`Wait(70);`	95	`Wait(70);`
96	`break;`	96	`break;`
97	`}`	97	`}`
98	`}`	98	`}`
99		99
100	`task blue_bumper() // naraznik na modre strane`	100	`task blue_bumper() // naraznik na modre strane`
101	`{`	101	`{`
102	`while(true)`	102	`while(true)`
103	`{`	103	`{`
104	`if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku`	104	`if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku`
105	`{`	105	`{`
106	`stop stochastika;`	106	`stop stochastika;`
107	`PlaySound (SOUND_FAST_UP);`	107	`PlaySound (SOUND_FAST_UP);`
108	`OnFwd (MLEFT);`	108	`OnFwd (MLEFT);`
109	`OnFwd (MRIGHT);`	109	`OnFwd (MRIGHT);`
110	`Wait(50);`	110	`Wait(50);`
111	`}`	111	`}`
112	`}`	112	`}`
113	`}`	113	`}`
114		114
115	`task cervena() // dalkovy sensor`	115	`task cervena() // dalkovy sensor`
116	`{`	116	`{`
117	`int lastlevel;`	117	`int lastlevel;`
118		118
119	`lastlevel = 0;`	119	`lastlevel = 0;`
120	`while(true)`	120	`while(true)`
121	`{`	121	`{`
122	`SendMessage(0);`	122	`SendMessage(0);`
123	`if(lastlevel > SENSOR_2)`	123	`if(lastlevel > SENSOR_2)`
124	`{`	124	`{`
125	`PlaySound(SOUND_FAST_UP);`	125	`PlaySound(SOUND_FAST_UP);`
126	`stop stochastika;`	126	`stop stochastika;`
127	`OnRev (MLEFT);`	127	`OnRev (MLEFT);`
128	`OnRev (MRIGHT);`	128	`OnRev (MRIGHT);`
129	`Wait(10); // popojed kus`	129	`Wait(10); // popojed kus`
130	`Off(MLEFT);`	130	`Off(MLEFT);`
131	`Off(MRIGHT);`	131	`Off(MRIGHT);`
132	`Obrat();`	132	`Obrat();`
133	`GoBlue();`	133	`GoBlue();`
134	`start stochastika;`	134	`start stochastika;`
135	`}`	135	`}`
136	`lastlevel = SENSOR_2;`	136	`lastlevel = SENSOR_2;`
137	`lastlevel -= THRESHOLD;`	137	`lastlevel -= THRESHOLD;`
138	`}`	138	`}`
139	`}`	139	`}`
140		140
141	`task cara_modra() // hlidani cary`	141	`task cara_modra() // hlidani cary`
142	`{`	142	`{`
143	`while(true)`	143	`while(true)`
144	`{`	144	`{`
145	`if (BLUE < THRESHOLD) // cekej na caru`	145	`if (BLUE < THRESHOLD) // cekej na caru`
146	`{`	146	`{`
147	`PlaySound (SOUND_DOUBLE_BEEP);`	147	`PlaySound (SOUND_DOUBLE_BEEP);`
148	`stop blue_bumper;`	148	`stop blue_bumper;`
149	`stop stochastika;`	149	`stop stochastika;`
150	`stop cervena;`	150	`stop cervena;`
151	`GoRed();`	151	`GoRed();`
152	`start cervena;`	152	`start cervena;`
153	`start blue_bumper;`	153	`start blue_bumper;`
154	`start stochastika;`	154	`start stochastika;`
155	`}`	155	`}`
156	`}`	156	`}`
157	`}`	157	`}`
158		158

Subversion Repositories svnkaklik

(root)/roboti/istrobot/callis/sumo_kaklik2.bak @ 378 – Rev 1 → 5